A hardware-in-the-loop simulation method for inertial navigation/odometer integrated navigation
A hardware-in-the-loop simulation and integrated navigation technology, which is applied to measurement devices, instruments, etc., can solve the problems that the simulation results cannot fully reflect the actual situation and the noise characteristics of odometer gyroscopes.
Active Publication Date: 2017-04-19
厦门汇鸿嘉创科技有限公司
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Problems solved by technology
Among them, the given simulation noise cannot fully reflect the noise characteristics of the odometer, accelerometer, and gyroscope, so the simulation results cannot fully reflect the actual situation
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[0074] See figure 1 , figure 2 , image 3 , a hardware-in-the-loop simulation method of inertial navigation / odometer integrated navigation, the specific steps of the method are as follows:
[0075] Step 1. Install the inertial navigation / odometer combination system on the carrier, and power it on to start.
[0076] Step 2, binding initial parameters (including initial longitude, latitude, altitude, odometer scale value) to the navigation computer.
[0077] Step 3. The carrier remains still, and the output data of the gyroscope and accelerometer are collected and saved for 1 hour. The average value of the output data of the gyroscope and the accelerometer is calculated, and the collected data of the gyroscope and the accelerometer are respectively compared with the average value to obtain the actual noise of the gyroscope and the accelerometer.
[0078] Step 4. The carrier remains stationary, and the inertial navigation system performs static initial alignment for 5 minute...
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The invention discloses a semi-physical simulation method of inertial navigation / mileometer combined navigation. The semi-physical simulation method comprises the following steps of 1, installing an inertial navigation / mileometer on a carrier and starting the inertial navigation / mileometer by electric power, 2, setting initial parameters in a navigation computer, 3, keeping a carrier static state and acquiring and storing output data of a gyro and an accelerometer in 1h, and calculating an average value and differences of the average value and actual values so that actual noise of the gyro and the accelerometer are obtained, 4, keeping a carrier static state and carrying out static initial alignment on the inertial navigation unit for 5min, 5, carrying out inertial navigation calculation, and acquiring and storing inertial navigation output rate values and mileometer output rate values in 50s after motion, 6, calculating the difference of the mileometer output rate values and a carrier rate reference rate to obtain a noise value of the mileometer output rate, and 7, setting a simulation locus to obtain standard values of the accelerometer and the gyro, providing related data, carrying fusion on the related data and the noise data obtained by the steps of 3 and 6, and carrying out inertial navigation / laser velocimeter combined navigation simulation by the simulation data of the device.
Description
technical field [0001] The invention relates to a semi-physical simulation method for inertial navigation / odometer combined navigation, which belongs to the technical field of inertial navigation. Background technique [0002] The odometer is a sensor for measuring the speed and distance of a vehicle. It has the advantages of complete autonomy, good dynamic performance, and measurement error that does not diverge over time. The combination of odometer and inertial navigation can complement each other's advantages to realize fully autonomous and high-precision navigation and positioning. [0003] In the simulation research of inertial navigation / odometer integrated navigation, the simulation trajectory (including the moving speed, position and attitude of the carrier) is generally set, and the standard value of the accelerometer and gyro are generated by the trajectory generator, and the standard value of the gyro is generated by the designer. Calculate the speed standard va...
Claims
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IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 张小跃宋凝芳时海涛易晓静潘建业刘鹏博
Owner 厦门汇鸿嘉创科技有限公司